Struct Server

pub struct Server<S>
where
    S: Service,
    S::Request: Message,
    S::Response: Message,
{ /* private fields */ }

Server end of a ROS2 Service

Implementations

impl<S> Server<S>

where S: 'static + Service,

pub fn receive_request(&self) -> ReadResult<Option<(RmwRequestId, S::Request)>>

Receive a request from Client. Returns Ok(None) if no new requests have arrived.

pub fn send_response( &self, rmw_req_id: RmwRequestId, response: S::Response, ) -> WriteResult<(), ()>

Send response to request by Client. rmw_req_id identifies request being responded.

pub async fn async_receive_request( &self, ) -> ReadResult<(RmwRequestId, S::Request)>

The request_id must be sent back with the response to identify which request and response belong together.

pub fn receive_request_stream( &self, ) -> impl FusedStream<Item = ReadResult<(RmwRequestId, S::Request)>> + '_

Returns a never-ending stream of (request_id, request) The request_id must be sent back with the response to identify which request and response belong together.

pub async fn async_send_response( &self, rmw_req_id: RmwRequestId, response: S::Response, ) -> WriteResult<(), ()>

Asynchronous response sending

Trait Implementations

impl<S> Evented for Server<S>

where S: 'static + Service,

fn register( &self, poll: &Poll, token: Token, interest: Ready, opts: PollOpt, ) -> Result<()>

Register self with the given Poll instance.

fn reregister( &self, poll: &Poll, token: Token, interest: Ready, opts: PollOpt, ) -> Result<()>

Re-register self with the given Poll instance.

fn deregister(&self, poll: &Poll) -> Result<()>

Deregister self from the given Poll instance